Laser beam projection system with dynamic phase compensation

ABSTRACT

A laser beam projection system builds on a coherent imaging to project a tightly focused laser beam onto a remote object. Coherent flood illumination and local oscillator (LO) illumination are based on one master oscillator. The coherent flood illumination is directed toward a remote object, with a second laser beam directed onto an aimpoint on the same object. A Doppler sensor provides Doppler shift data used to produce Doppler-shifted LO illumination received by a focal plane array, together with the return flood illumination. Interference between the Doppler-shifted LO illumination and the return flood illumination facilitates imaging the object despite the velocity. The wavefront error of the flood illumined remote object image is computed and compared to the desired wavefront of the second laser beam at the aimpoint, with the difference applied to a deformable mirror to shape the second laser beam wavefront for obtaining a desired aimpoint intensity profile.

TECHNICAL FIELD

The present disclosure is directed in general to laser beam projectionusing coherent imaging, and, more particularly, to dynamic phasecompensation of an outgoing laser beam directed at a remote object usingcoherent imaging of the object or its vicinity in the context ofrelative movement between the imaged object and the laser beamprojecting platform or the coherent imaging sensor(s).

BACKGROUND OF THE DISCLOSURE

Coherent imaging methods have value for obtaining image-based data fromdistant objects. However, object motion on the order of the wavelengthof light imparts interference features to the coherent signal. At thesame time, atmospheric turbulence and other phenomena introducewavefront errors in a laser beam directed at a distant object,especially if a focused laser beam is desired on the distant object.

SUMMARY OF THE DISCLOSURE

A laser beam projection system builds on a coherent imaging system toproject a tightly focused laser beam onto a remote object. The coherentimaging system produces coherent flood illumination and local oscillator(LO) illumination derived based on a same master oscillator (MO) as theflood illumination. The coherent flood illumination is directed toward aremote object. Simultaneously, a laser beam projection system directs asecond (and generally higher power) laser beam onto a desired aimpointon the same remote object. The second laser beam is often derived from asecond master oscillator. A Doppler sensor receives the LO illuminationand a return of flood illumination reflected off the object. Dopplershift data from the Doppler sensor, corresponding to a longitudinalvelocity of the object relative to the imaging system, is used toproduce Doppler-shifted LO illumination received by a focal plane array(FPA), together with the return illumination from the object.Interference between the Doppler-shifted LO illumination and the returnillumination facilitates producing an image of the object with the lowbandwidth FPA despite the longitudinal velocity. The wavefront error ofthe image, or a region of the image, is computed and compared to thedesired wavefront at the aimpoint. The difference is applied to adeformable mirror to shape the wavefront of the second projected laserbeam for obtaining the optimum or desired intensity profile of thesecond laser beam at the aimpoint on the remote object.

In some embodiments, a high energy laser (HEL) is projected towards aremote object to form a high intensity hitspot, which is imaged on theremote object by the coherent imaging system that also images the remoteobject. (This imaging of both the object and the hitspot allows theregistration of the location of the hitspot on the remote object.) Asecond local oscillator (LO) illumination is derived based on the secondmaster oscillator. An HEL LO produces HEL LO illumination based on oneor both of the second LO or second HEL MO outputs. The focal plane arrayreceives the HEL return of the hitspot reflected off the remote object,together with the HEL LO illumination, such that the light intensitydata for at least some pixels of the focal plane array corresponds tointerference of the HEL LO illumination with the HEL return. Thus, thecoherent image on the FPA is an image of the remote object and the imageof the hitspot (interferences of the HEL LO illumination and the HELreturn) A deformable mirror receives the HEL source beam and directs ittoward the aimpoint on the remote object. The processors employ at leastone of the output of the Doppler sensor or the light intensity data fromthe focal plane array to control one or both of deformation andorientation of the deformable mirror. The deformable mirror iscontrolled by the processor(s) in response to either a determinedwavefront error (WFE), pre-distorting the HEL beam, or an alterationrequired for the direction of the HEL beam to coincide with an aimspoton the remote object. The deformable mirror is controlled based onwavefront errors calculated using on the coherent image on the FPA.

Although specific advantages have been enumerated above, variousembodiments may include some, none, or all of the enumerated advantages.Additionally, other technical advantages may become readily apparent toone of ordinary skill in the art after review of the following figuresand description.

BRIEF DESCRIPTION OF THE DRAWINGS

For a more complete understanding of the present disclosure and itsadvantages, reference is now made to the following description taken inconjunction with the accompanying drawings, in which like referencenumerals represent like parts:

FIG. 1 is a diagram illustrating operation of a coherent imaging systemin accordance with one embodiment of the present disclosure;

FIG. 2 illustrates image processing performed within the coherentimaging system of FIG. 1;

FIG. 3 is a simulated intensity image obtained using a coherent imagingsystem of the type illustrated in FIG. 1 together with the processingillustrated in FIG. 2;

FIG. 4 is a diagrammatic illustration of additional details for thecoherent imaging system of FIG. 1 in accordance with embodiments of thepresent disclosure;

FIG. 5 is a diagrammatic illustration of additional details for thecoherent imaging system of FIG. 1 in accordance with alternateembodiments of the present disclosure including a projected laser spot;

FIG. 6 illustrates image processing performed within the coherentimaging system of FIG. 5;

FIGS. 7A through 7B are diagrammatic illustrations of first and secondalternate embodiments of the present laser beam projection systemdisclosure including wavefront error correction for a projected laserspot;

FIG. 8 illustrates aberration determination for wavefront errorcorrection for a projected laser spot in accordance with embodiments ofthe present disclosure;

FIGS. 9A through 9C also illustrate wavefront error correction for aprojected laser spot in accordance with embodiments of the presentdisclosure; and

FIG. 10 illustrates a flow chart diagram of the wavefront errorcorrection process for a projected laser hitspot on a remote object.

DETAILED DESCRIPTION

It should be understood at the outset that, although exemplaryembodiments are illustrated in the figures and described below, theprinciples of the present disclosure may be implemented using any numberof techniques, whether currently known or not. The present disclosureshould in no way be limited to the exemplary implementations andtechniques illustrated in the drawings and described below.Additionally, unless otherwise specifically noted, articles depicted inthe drawings are not necessarily drawn to scale.

Coherent imaging systems, where an active laser-based system is employedto measure the amplitude and phase of an image, rely on the interferencebetween a local oscillator (LO) beam and the return from a coherentlyilluminated target. Coherent imaging provides great value forinterrogating distant objects. Specific elements of this value include:improved performance with low light levels, three-dimensional (3D)imaging, correction of optical aberrations, and evaluation ofintra-object motion. For example, coherent imaging generally involvesphoton-limited detection, which allows operation with lower illuminationpower than direct detection methods. In addition, three dimensional (3D)images may be obtained by combining coherent images at differentwavelengths, and optical aberrations (e.g., wavefront errors) may bedetermined and corrected with coherent imaging.

Coherent signatures, however, are very dynamic and require high-speeddata collection sensors to record image data. When the target movesrelative to the sensor, the interference frequency (IF, which may bedetermined for the purposes discussed below based on the absolute valueof the return illumination frequency minus the frequency of thefrequency-shifted local oscillator) of the return experiences a Dopplershift. For dynamic engagements, this interference frequency can bevariable, as the relative motion of the sensor and/or target change.Target motion on the order of the wavelength of light impartsinterference features to the coherent signal, and thus prior coherentimaging systems must have very short integration times andhigh-bandwidths. Thus, while valuable in at least the respects describedabove, coherent imaging requires very high-speed detectors, becauseobject motion on the order of the wavelength of light imparts essentialinformation to the signal that must be recorded by the detection system.This complicates coherent imaging for engagements in which there issignificant relative motion between the sensor platform and the objectbeing interrogated. The present disclosure presents techniques allowingone to record coherent images in dynamic environments with significantrelative motion between the sensor and object.

Prior attempts to address the problem resulting from relative motionbetween sensor and object have included the development of sensors withhigher-speed recording capability (e.g., faster frame rates). Inaddition, some proposals have imparted an offset frequency to thereference beam (local oscillator or “LO”) to compensate for longitudinalmotion. The present disclosure concerns a coherent imaging system with aseparate sensor that adaptively measures the required reference offsetfrequency and imparts this offset frequency to the reference beam,thereby allowing coherent imaging in dynamic engagements. The presentdisclosure employs a single or multiple pixel high-speed detector thatcan record the Doppler offset frequency from the object or a region ofthe target. The Doppler offset frequency is determined dynamically asthe relative velocities of the sensor and object move and the determinedDoppler frequency is imparted to the reference beam of the coherentimaging system, thereby allowing coherent imaging with a lowerbandwidth, larger-format, imaging sensor. Various embodiments of thedesign described in the present disclosure include a coherent imagingsystem with one or more of (a) a high speed Doppler sensor, (b)dynamically imparting the Doppler offset frequency to the reference beamfor dynamic engagements, and (c) a Doppler sensor having multiple pixelsto improve performance and to evaluate the Doppler offset for differentobject regions.

FIG. 1 is a diagram illustrating operation of a coherent imaging systemin accordance with one embodiment of the present disclosure. Thoseskilled in the art will recognize that, for simplicity and clarity, somefeatures and components are not explicitly shown, including thoseillustrated in connection with later figures. For example, the entireoptical system—that is, including all mirrors and lenses, beamsplitters, transmitter/receivers, apertures, electromechanical shutters,etc., and the associated light paths—is not illustrated in FIG. 1. Suchfeatures, including those illustrated in later figures, will beunderstood to be equally applicable to the coherent imaging system ofFIG. 1.

The coherent imaging system 100 excludes the target object 101 depictedin FIG. 1. A master oscillator 102 produces a frequency signal, whichpasses through modulator 103 and power amplifier 104 to drive anillumination source (a target illumination laser, not explicitly shown)directing coherent flood illumination 105 (illustrated with dashed lineshaving long dashes) toward the object 101 to be imaged. Light 106(illustrated with solid lines ending in solid arrowheads) reflected offthe object 101 is received through an exit pupil 107 and focused throughan imaging pupil 108 onto a short wavelength infrared (SWIR) focal planearray (FPA) 109. SWIR FPA 109 operates under the control of a timing andcontrol processor 110, which is coupled to the master oscillator 102.Also coupled to the master oscillator 102 is a local oscillator (LO)111, which drives an illumination source (not explicitly shown)directing illumination 112 (illustrated with dashed lines having shortdashes) onto the SWIR FPA 109.

In the system of FIG. 1, the target object 101 is flood illuminated withcoherent light 105 at a frequency derived from master oscillator 102.The return (reflected) light 106 interferes with the illumination 112based on the frequency of LO 111, which interference may be determinedbased on total light detected using FPA 109. This detection method maybe referred to as spatial heterodyne or digital holography (DH). Suchinterference imaging enables photon-noise limited detection, phaseprocessing that also allows 3D imaging, aberrationdetermination/correction, and vibration imaging. However, theinterference pattern must be static over the detection integrationtime—for example, about 100 nanoseconds (nsec) (that is, 0.1microseconds (μsec)), or some other period within the range 0.001 μsecto 1.0 μsec. In addition, relative motion between the coherent imagingsystem and the object (especially longitudinal motion toward or awayfrom each other) drives a need for either shorter detection intervals oroffsetting the LO frequency in a manner canceling the Doppler frequencyoffset from the longitudinal object velocity.

FIG. 2 illustrates processing performed within the coherent imagingsystem of FIG. 1. This processing 200 is performed by processingcircuitry within, for example, the timing and control processor 110 oroptionally by a separate processor coupled to the system 100 (and notshown in FIG. 1). The illumination 106 received through the exit pupil107 and the illumination 112 based on the LO 111 interfere at thedetector array (i.e., the FPA), causing the intensity of light 201received at the individual pixels of the detector array to vary basedupon an image corresponding to flood illumination light reflected offthe object. A fast Fourier transform (FFT) of the intensity values fromthe detector array produces digital image data 202 based on the lightreceived through the exit pupil 107 and the LO-based illumination 112. Afurther FFT on a portion of the digital image data 202 may produce adigital display 203 of the intensity image, a complex-valuedtwo-dimensional (2D) image for the object.

FIG. 3 is a simulated intensity image obtained using a coherent imagingsystem of the type illustrated in FIG. 1 together with the processingillustrated in FIG. 2. The simulated intensity image corresponds tolight recorded by a 256×256 detector array, illustrating how relativemotion between the imaging sensor and the object can degrade thecoherent signal and cause the fine fringe detail to “wash out.” Note theblurred edges for fine fringe detail imparted by spatially offset LO. Indynamic engagements, longitudinal motion between the target and theimaging system (motion of the target toward or away from the imagingsystem) has the largest impact on fringe motion. The impact is sometimesreferred to as a gross Doppler frequency shift. The effect occursbecause integration time T_(INT) (which must be less than the period ofthe interference frequency, i.e., T_(INT)<1/IF) varies inversely withthe longitudinal velocity, which in dynamic environments will often varywith time: T_(INT)<λ/V where λ is the source wavelength and V is thelongitudinal velocity. For large longitudinal velocities V, integrationtime can fall below the capability of the detector array technology. Insome instances, the effect may be reduced by adding an offset frequencyon the LO. Coherent imaging systems based on digital holography (DH) usea multi-pixel framing camera that records a “snapshot” of theinterference pattern with an integration time T_(INT) of, for example, 1microsecond (μsec). This requires the interference pattern to be staticover T_(INT), which means that the IF must be less than 1 mega-Hertz(MHz). To accomplish DH detection in dynamic engagements thus requiresthe ability to monitor the target's Doppler shift and adjust the LO sothat the IF is <1 MHz.

In the system for coherent imaging during dynamic engagements inaccordance with the present disclosure, a high bandwidth coherentdetection system is introduced to measure the Doppler shift in thereturn and thus the longitudinal velocity (i.e., a Doppler sensor). TheDoppler offset frequency (proportional to the longitudinal velocity) ismeasured, and the measured Doppler frequency is applied to the shift inthe frequency of the LO beam to make the interference pattern staticover the integration time. The capabilities of the high bandwidthdetector employed may determine a limit on target range, for acceptabletiming of SWIR FPA exposure. The Doppler sensor may consist of a singlepixel detector, or alternatively may employ multiple pixels to enhancesignal properties and determine Doppler shift for several points on thetarget. A high bandwidth detector also determines the target range fortiming of SWIR focal plane array (FPA) exposure.

The coherent imaging system of the present disclosure employs ahigh-bandwidth detector (separate from the DH camera employed to measureinterference) to measure the target's Doppler frequency. The Dopplerfrequency is then applied to the LO, so that the interference pattern isstatic over the camera's integration time. This process of Dopplermeasurement and IF adjustment is performed repetitively over the dynamicengagement, to enable DH based coherent imaging. The dedicated sensorfor measuring Doppler shifts and resulting variation of the LO frequencyprovides an effective closed loop system in which changes inlongitudinal velocity are compensated for in real time. This extends theutility of the coherent imaging system to highly dynamic environments.

FIG. 4 is a diagrammatic illustration of additional details for thecoherent imaging system of FIG. 1, in accordance with embodiments of thepresent disclosure. For simplicity and clarity, some components of FIG.1 and/or later figures are not shown, while additional components notillustrated in FIG. 1 are shown. It will be understood that all featuresillustrated in the figures may be employed in any of the embodimentsdescribed. Omission of a feature or component from a particular figureis for purposes of simplicity and clarity, and not meant to imply thatthe feature or component cannot be employed in the embodiments describedin connection with that figures.

As previously described, coherent light 105 from flood illuminationsource 401 driven by master oscillator 102 reflects off object 101 andis received as reflected (or “return”) illumination 106. In theembodiment shown, the coherent light from flood illumination source 401reflects off a fixed mirror and then a (preferably deformable) mirror402 before passing through suitable optical components for directiontoward the object 101. A first beam splitter 403 splits the receivedreturn illumination 106, directing a portion to be focused on mid-waveinfrared (MWIR) FPA 404. A second beam splitter 405 splits the portionof the return illumination 106 passing through the first beam splitter403 between being focused on SWIR FPA 109 and being focused on a Dopplersensor 406. A transmitter/receiver 407, which may be polarized to passthrough the part of the return illumination 106 not redirected by beamsplitter 405, effectively superimposes the non-redirected portion of thereturn illumination 106 and illumination based on the LO frequency, fromillumination source 408, on Doppler sensor 406. The Doppler sensor 406has a single pixel (or multiple pixels) that measure Doppler frequencyof the return illumination relative to the LO illumination fromillumination source 408. The sampling rate for the Doppler sensor 406should be greater than the greatest (longitudinal) velocity for thetarget divided by the wavelength used for the flood illumination (orother illumination source(s) described below). The output of Dopplersensor 406 is received by a processor 110, which determines a Dopplershift (or offset) of the return illumination relative to the floodillumination. That Doppler shift is representative of the longitudinalvelocity (or, stated differently, the longitudinal component of thetotal velocity) of the object 101 relative to the coherent imagingsystem 100.

The Doppler shift is measured and updated on a regular basis to accountfor longitudinal acceleration by object 101. The Doppler shift isemployed by a Doppler-shifted local oscillator 409, which generates aDoppler-shifted version of the output frequency from the localoscillator 111 used to produce the Doppler-shifted LO illumination. Avalue based on a measurement (e.g., an inverse) of the Doppler shift maybe applied to the frequency signal from the master oscillator 102 by anelectro-optic modulator (EOM) 410. The output of EOM 410 is received byDoppler-shifted local oscillator 409, which produces a Doppler shiftedLO illumination signal that drives an illumination source 411 to producethe Doppler shifted LO illumination 420. The image sensor SWIR FPA 109is provided with the Doppler-shifted LO illumination 420 derived fromDoppler shifted LO output signal, superimposed with a portion of thereturn illumination 106 from beam splitter 405, to offset Dopplereffects on the imaging. As a result, the interference pattern can berecorded with a low bandwidth focal plane array—for example, an FPAoperating with a 0.1 to 1 microsecond (μsec) global shutter.

As described above, the flood illumination from light source 401 and theLO illumination from light source 408 both derive from same stablemaster oscillator 102. Likewise, the Doppler-shifted local oscillator409 derives from that same, stable master oscillator 102. For a pulsedsystem, the Doppler sensor 406 also measures the target range, so thatthe SWIR FPA 109 may be triggered when the return pulse from the object101 is present.

The coherent imaging system 400 of the present disclosure also finds usein assessing a projected laser spot on a distant object. Determining theeffectiveness of a focused high energy laser (HEL) hitspot on a remotetarget may be performed by indirect methods. In those applications,atmospheric aberrations may be sensed from the return of a separatebeam, usually of a different wavelength, and correction imparted on theHEL beam. The HEL hitspot on target is usually not observable, sincesuch (direct) observation requires superb boresight alignment, andline-of-sight (LOS) is typically the metric employed to determine aprojected HEL hitspot location. Instead, the HEL hitspot on target isusually sensed using the MWIR FPA 404, which measures the HEL hitspotindirectly by sensing the thermal radiation emitted from the hitspot.Furthermore, thermal sensing of the HEL hitspot is subject to latency,since the thermal effects are not instantaneous and the MWIR sensor 404has lower imaging resolution than can be obtained at the nativewavelength of the HEL source (typically near 1 micron). Passive imagingof the HEL hitspot at the native HEL wavelength for direct observationwould therefore typically require an additional SWIR sensor. Because ofthose difficulties, target kill assessment is more commonly determinedby a dramatic drop in signal-to-noise ratio (SNR).

As discussed above, coherent imaging methods have great value forobtaining image-based information from distant objects, including lowerillumination power and determination of and correction for opticalaberrations (wavefront errors). In addition, wavelength selectivityallows for simultaneous imaging of multiple bands. Accordingly, digitalholography may be employed to simultaneously image and observe an HELbeam spot on a distant non-cooperative target.

Several configurations have been proposed to enhance target trackingusing hit spot detection and assessment of hit spot effectiveness. Somerequire two detectors: one for the HEL hitspot detection and one forillumination return processing. The use of two detectors increasescomplexity and size, weight and power (SWaP) and requires filtering oractive beam control to guide HEL return to the imaging detector. DirectHEL hitspot detection methods are limited by detector noise (i.e., SNRlimited). Registration issues inherent in using two separate detectorsinclude strenuous boresight alignment and mechanical rigidityrequirements, which increases system complexity, and will have an offseteven when algorithms are used to compensate for registration, due tocomputational imprecisions. Target sizes are limited for previouslyproposed configurations since subpixel imaging poses challenges fordirect detect systems (that is, across subpixel target features, the HELwill be much smaller and harder to image). Wavefront error (WFE)measurements are performed by a separate detector (e.g., usingShack-Hartman, shearing interferometer, etc.), requiring the additionaldetector and processing. WFE measurements are indirect (e.g., based onWF gradient) and limited (in branch cuts, etc.) by effects that resultfrom having a speckled return.

Directed energy weapons require adaptive optics to correct for wavefrontaberrations imparted by the atmosphere during a mission scenario.However, once the wavefront is sensed and subsequently corrected for,direct assessment of the effectiveness of the correction at the targetis difficult. Furthermore, kill assessment is often made by indirectmeans, e.g., target heating, which can lead to incorrectly identifyingthe target as neutralized. In the present disclosure, a real-time, highresolution hit spot detector monitors a laser beam spot projected onto adistant, non-cooperative target, and can also be used as a more directmeans of damage assessment of a neutralized target. Digital holographicimaging is employed to simultaneously image both a distant target and alaser beam projected onto the distant target.

The present disclosure enables assessment of a projected laser spot(e.g., an HEL hitspot) on a distant object, including simultaneouscoherent imaging of both a focused HEL hitspot and the non-cooperativetarget at large distances. Spatially and angularly offset localoscillators interfere with the HEL and illumination return from thetarget. A coherent Doppler detector senses the Doppler shift frequencydirectly, and sends the signal to modulators which shift the frequencyof the local oscillators to maintain coherence over the engagementtimeline. The HEL hitspot on a distant target is therefore monitoreddirectly, kill assessment is more easily determined, and the HEL can be“walked” onto an aim point. Use of a single detector minimizes SWaP,with acceptance of a single polarization return enabling a singletransmitter/receiver (Tx/Rx) architecture. HEL WFE may be senseddirectly by examining the sharpness of the HEL hitspot on the targetand/or by sharpness maximization. Because of its limited extent the WFEcan be determined with decreased processing and latency. The imaged HELhitspot serves as a glint, which can be used to increase the system LOSaccuracy.

FIG. 5 is a diagrammatic illustration of additional details for thecoherent imaging system of FIG. 1 in accordance with alternateembodiments of the present disclosure including a projected laser spot.The coherent imaging system 500 is similar to the embodiments of FIGS. 1and 4, although some features (e.g., details of the optics system) thatwere not illustrated in FIGS. 1 and 4 are explicitly shown in FIG. 5. Itwill be understood that the same features may also be present in theembodiments of FIGS. 1 and 4. In addition, the complete light paths ofoutgoing and return light are not shown.

Coherent imaging system 500 includes a first transmitter/receiver 501within the path of the return illumination 106. The firsttransmitter/receiver 501 may have a polarization that differs from thepolarization of the transmitter/receiver 407, and may depend on thenature of the output illumination from the HEL 502. The HEL 502 produceshigh energy laser illumination 504 for projecting an HEL hitspot 505 onthe target 101. As discussed further below, HEL 502 may operate based ona signal from an HEL master oscillator 503 separate from masteroscillator 102. The first transmitter/receiver 501 redirects the HELbeam 504 to the mirror 402, which in turn redirects the HEL beam 504toward the target 101 to form an HEL hitspot 505 on the object 101. Thereflected HEL beam return 506 reflected off target 101 follows a similarpath as the return 106 of the flood illumination 105 via mirror 402,through the first transmitter/receiver 501, and redirected by beamsplitter 405 to impinge upon SWIR FPA 109. HEL LO-modulated illumination520 from illumination source 507, based on an output of Doppler-shiftedHEL LO 508, is superimposed on the SWIR FPA 109 with the HEL beam return506. The Doppler-shifted HEL LO 508 may receive a signal from EOM 509based on an output of Doppler sensor 406, and produce an output based onHEL MO 503. With such a configuration, the HEL LO illumination 520 fromillumination source 507 is spatially, angularly, and spectrally offsetfrom the LO illumination 420 from illumination source 411. The HEL LOillumination 520 is emitted onto the SWIR FPA 109, together with thereturn 106 of the flood illumination 105, the HEL return 506 of the HELbeam 504, and the LO illumination 420. The gating or global shutterspeed of gating of the SWIR FPA 109 may be set based upon the pulsetiming for the flood illumination return 106. Because the HEL beam 504is typically continuous wave (CW) rather than pulsed, the systemdescribed offers flexibility in modifying the detector integration timefor the HEL imaging. In addition, there may be orders of magnitudedifference in the power levels of the HEL return 506 and the floodillumination return 106. To prevent saturation of the SWIR FPA 109 bythe HEL return 506, various techniques including spectral andpolarization attenuation may be employed, or the detector integrationtime may be adaptively decreased when the HEL return 506 is present. Thecombined illumination received at the SWIR FPA 109 is processed byprocessor 110 to indicate the image of the target 101 as well as theprojected laser spot (if reflected off target 101)

The processor 110 determines WFE using an auto-focus algorithm, and theinverse of the WFE may be applied to mirror 402 under the control of theprocessor 110 to pre-distort the beam of the HEL beam 504 and focus theHEL hitspot 505 onto target 101. In addition, the orientation of mirror402 may also be altered under the control of the processor 110, togetherwith or separately from alteration of the deformation, to change adirection in 3D space of the HEL beam 504. In that manner, the targetspot 505 produced by the HEL beam 504 may be “walked” onto a desiredaimpoint on the target 101.

FIG. 6 illustrates image processing performed within the coherentimaging system of FIG. 5. The processing 600 is analogous to thatdescribed in connection with FIG. 2, except that the received return andLO illumination at FPA 109 also includes the LO modulated illumination520 derived from the Doppler shifted HEL LO illumination source 507. Aswith the processing 200 of FIG. 2, the processing 600 includes FFT basedsignal processing of the intensity of light 601 received at theindividual pixels of the detector array to produce digital image data602 and a digital, complex-valued image 603. As illustrated, a differentportion of the digital data 602 produced by the initial FFT than is usedfor the target image may be selected for further processing to producethe laser spot within the digital, complex-valued image 603. Because theHEL LO illumination 520 from source 507 and the flood illumination LOillumination 420 from light source 411 are spatially, angularly, andspectrally offset, the processing of both images may be carried outsimultaneously, with the resultant image composed of the HEL hitspotimage overlaid with the target image. The projected laser beam (e.g.,HEL beam) return and active target flood illumination returnsimultaneously interfere with the respective local oscillator versionsof that illumination at the FPA 109. Highly registered images aretherefore overlaid, with the resultant image containing the projectedlaser beam spot as it appears on the target 101. Moreover, becausedigital holography offers photon limited performance, digitalholographic techniques may be used to directly sense the WFE imparted onthe projected laser beam.

In the various embodiments described, modifications can be made toimprove performance. For example, to avoid negative effects resultingfrom beam break-up of either or both of the flood illumination or theHEL beam, multiple flood illumination beams and/or multiple HEL beamsmay be employed. While a single Doppler detector is described above assensing both flood illumination return and HEL beam return, separateDoppler detectors could be employed instead.

As implied above, atmospherically induced (wavefront) phase errors limitthe ability to project a focused laser beam onto a distant target.Coherent imaging methods allow determination of this wavefront error(WFE) through the use of auto-focus algorithms. A laser beam can then bepre-compensated for the WFE using a deformable mirror to produce atightly focused laser spot on the target. In order to allow coherentimaging and pre-compensation of the outgoing laser beam in conditionswhere the target is moving, a high-speed Doppler sensor that measuresthe relative velocity between the sensor and target is employed. The LOfor the coherent imaging system is adjusted to compensate for the targetmotion, and thus enables coherent imaging and WFE determination.

FIG. 7A is a diagrammatic illustration of a first alternate embodimentof the present laser beam projection system disclosure, includingwavefront error correction for a projected laser hitspot. For laser beamprojection system 700, various physical phenomena such as atmosphericturbulence 701 between the optics of the laser beam projection system700 and the target 101 distorts or deflects (not shown in the figures)the HEL beam 504 producing the HEL hitspot 505. In this embodiment, adeformable mirror 702 is employed to direct and shape the HEL beam 504.A wavefront reconstructor 703 (which may actually form a part of thecomputer/processor 110) is employed to adjust a deformable mirror driver704, which controls the surface orientation and shape of the deformablemirror 702.

In this embodiment, the target illumination source 401 produces floodillumination 105 directed onto the target 101. The flood illuminationreturn 106 undergoes wavefront distortions (e.g., due to atmosphericconditions, airflow, optics aberrations, or some combination of any twoor more of those). The WFE resulting from these distortions is measuredby processing the FPA 109 output as previously described. Meanwhile,also as previously described, relative motion between the laser beamprojection system 700 and the target 101 is detected based upon theoutput of the high-speed Doppler sensor 406. An inverse of the Doppleroffset is applied to EOM 410 to produce illumination 420 driven byDoppler shifted LO 409. The FPA 109 records interference of floodillumination return 106 and Doppler shifted LO illumination 420. Thecomputer/processor 110 determines WFE using an auto-focus algorithm, andan inverse WFE calculated by the wavefront reconstructor 703 is appliedto deformable mirror 702 to pre-distort the outgoing HEL beam 504 tocompensate for the measured wavefront distortions. In this manner, theHEL hitspot 505 is focused onto the target 101.

Optionally, the HEL hitspot 505 can also be imaged onto the FPA 109.This imaging of both the target 101 and the hitspot 505 allows theregistration of the location of the hitspot 505 on the target 101. AnHEL local oscillator (LO) may be derived based on the HEL MO 503. An HELLO produces HEL LO illumination based on one or both of the HEL LO orHEL MO 503 outputs. An inverse of the Doppler offset is applied to EOM509 to produce illumination 520 driven by Doppler shifted HEL LO 508.The FPA 109 receives the HEL return 506 of the hitspot 505 reflected offthe target, together with the Doppler shifted HEL LO illumination 520,such that the light intensity information for at least some pixels ofthe FPA 109 corresponds to interference of the HEL LO illumination 520with the HEL return 506. Thus, the coherent image on the FPA 109 is animage of both the target 101 and the hitspot 505.

FIG. 7B is a diagrammatic illustration of a second alternate embodimentof the present laser beam projection system disclosure, includingwavefront error correction for a projected laser hitspot, in whichwavefront correction is apportioned. While the embodiment of FIG. 7Ashowed all wavefront error correction being provided by the deformablemirror 702, alternatively the wavefront correction may be assigned tomultiple optical components. That is, different optical elements may beused for different types or components of the wavefront error: tip/tilterror or error component; focus error or error component; and higherorder error or error component. In the alternative embodiment 710 ofFIG. 7B, for example, one or more fast steering mirrors (FSMs) 711 couldcorrect for tilt errors, while focus errors are corrected by a focusingmechanism 712 and remaining higher order errors are corrected by adeformable mirror 702. A driver 714 coupled to the wavefrontreconstructor 703 (or processor 110) generates control signals for eachof the FSM(s) 711, DM 702 and focus mechanism 712 based on the wavefronterror.

As described, the wavefront error (WFE) calculated to obtain the imageof the remote object can be used both to obtain a sharper image of theremote object and to manipulate the wavefront of a second projectedlaser beam (separate from the flood illuminating laser) by altering itsphase profile, for example by manipulating the wavefront of the HEL beam504 in FIGS. 7A and 7B. This is desirable in many cases, for example,when attempting to tightly focus the second projected laser beam (HELbeam 504 in FIGS. 7A and 7B) to form a high intensity hitspot (505 inFIGS. 7A and 7B) on the remote object (target 101 in FIGS. 7A and 7B) sothat a desired effect (e.g., melting, mechanical destruction, ignition,etc.) can be achieved at the remote object (target 101 in FIGS. 7A and7B). The wavefront of the second projected laser beam (HEL beam 504 inFIGS. 7A and 7B) can be altered by a deformable mirror (702 in FIGS. 7Aand 7B) whose surface can be controllably warped. The wavefront can alsobe manipulated using other optical elements, such as focus mechanismsand fast steering mirrors (FSMs). All types of wavefront changes (notjust those leading to a focused hit spot) may be provided, as allowedfor by the deformable mirror (702 in FIGS. 7A and 7B), focus mechanism(712 in FIG. 7B), and FSM(s) (711 in FIG. 7B). The wavefrontmanipulation process in the context of coherent imaging is used toobtain a focused image of the remote object. In the context of laserbeam projection, the wavefront manipulation process often aims to make atight hitspot on the remote object, and may, for instance, apply theinverse of the same wavefront error detected in coherent imaging, or maybe based on calculation of a different wavefront error to be applied tothe outgoing laser beam.

FIG. 8 illustrates aberration determination for WFE correction for aprojected laser spot using image sharpness in accordance withembodiments of the present disclosure. In the example 800 depicted,simulated images 801, 802, 803 and 804 on the left respectivelyrepresent the remote object, a single FPA frame, a single frame of theintensity for interference between the return flood illumination and theLO illumination, and an aggregate intensity over 32 frames forinterference between the return flood illumination and the LOillumination. None of the simulated images 802, 803, or 804 have beensubjected to wavefront errors. Simulated image 811 shows how wavefronterrors distort the resulting images. In particular, simulated image 811represents an image obtained using 32 frames of interference intensitythat has been subject to wavefront errors represented by the wavefrontphase profile 810. Simulated image 811 is processed by a sharpnessalgorithm, such as computation of a wavefront phase error that maximizessharpness, to derive a corrected image 813. This type of processingimproves Strehl ratio. For example, the aberrated images may exhibit aStehl ratio of 0.27, which after wavefront phase error correctionbecomes 0.80. Wavefront phase profile 812 represents the estimatedwavefront phase correction. Assuming a circular laser beam projectionaperture diameter (d) of 0.125 meters (m) at a range of 30 kilometers(km), a flood illumination wavelength of 1.5 microns (μm), and Friedparameter r₀ of 0.01 m, at a sampling parameter Q of 2.0, angularresolution of 0.6 m, estimating phase using 50 Zernikes (d/r₀=12.5) and32 speckle realizations, a root mean square (RMS) WFE of 1.72 radians isdetermined. The estimated wavefront phase correction is then applied tothe second projected beam (HEL beam 504 in FIGS. 7A and 7B) to form ahigh intensity hitspot (505 in FIGS. 7A and 7B) on the remote object(target 101 in FIGS. 7A and 7B). The wavefront of the second projectedlaser beam (i.e., the HEL beam 504 in FIGS. 7A and 7B) can thus bealtered by applying the wavefront phase correction depicted by thewavefront phase profile 812 to the deformable mirror (702 in FIGS. 7Aand 7B). Some scaling and geometric modifications of the estimatedwavefront phase correction may be required to accommodate differences inthe wavelength of the flood illumination (i.e., flood illumination 105in FIGS. 7A and 7B) and the second projected beam (i.e., the HEL beam504 in FIGS. 7A and 7B) and the geometry of the deformable mirror 702with respect to the second projected beam (i.e., the HEL beam 504 inFIGS. 7A and 7B).

FIGS. 9A through 9C also illustrate WFE correction for a projected laserhitspot using image sharpness in accordance with embodiments of thepresent disclosure. Image sharpness of the remote object images wascorrected from a Strehl ratio of 0.03 to 0.66. The simulated WFE appliedis represented by the wavefront phase profile in FIG. 9A which was 2.17radian (RMS). At a range of 25 km, with an aperture diameter of 0.3 m, aflood illumination wavelength of 1.5 μm, and Fried parameter r₀ of 0.03m, at a sampling parameter Q of 2.0, angular resolution of 0.12 m,estimating phase using 64 Zernike parameters with 16 specklerealizations and a sharpness exponent of 1.2 with a gradient basedoptimizer, an RMS WFE of 2.17 radians was determined. The WFE solutionapplied to the deformable mirror shown in the wavefront phase profile inFIG. 9B was 2.12 radian (RMS). The residual WFE after correction, shownin the wavefront phase profile in FIG. 9C, was 0.65 rad (RMS).

Putting it all together, FIG. 10 is a diagrammatic illustration of theprocedure 1000 for wavefront error correction for a projected laserhitspot on a remote target using either the first or the secondalternate embodiment (or a combination of the two) of the laser beamprojection system. An optional procedure (shown in dashed process boxesand connecting lines) for imaging the hitspot on target and walking itto a desired aimpoint is also included. The process starts withillumination of the target using the flood illuminating laser in step1022. The flood illuminating laser scatters back from the target and isreceived in part onto a Doppler sensor in step 1024 and in part onto afocal plane array (FPA) in step 1040. Simultaneously a local oscillator(LO) illumination derived from the same master oscillator (MO) as theflood illuminating laser is directed at the Doppler sensor. The part ofthe flood illuminating laser return received onto the Doppler sensorinterferes with LO illumination in step 1026. The interference patternis sampled and a Doppler shift is calculated in step 1028. The Dopplershift is applied to the LO to generate a Doppler shifted LO and directedonto the FPA in step 1030. The part of the flood illuminating laserreturn from the target received onto the FPA interferes with the Dopplershifted LO illumination in step 1042. The interference pattern issampled and a wavefront phase profile of the laser return is calculatedin step 1044. This wavefront phase profile is used to estimate awavefront phase correction which is then is applied to the deformablemirror that directs a second projected beam (e.g., a high energy laserbeam—HEL beam) in step 1046. The wavefront phase correction is usuallyestimated by inverting the wavefront phase profile. Some scaling andgeometric modifications of the estimated wavefront phase correction maybe required to accommodate differences in the wavelength of the floodilluminating laser and the second projected beam (e.g., the HEL beam)and the geometry of the deformable mirror with respect to the secondprojected beam (e.g., the HEL beam). The second projected beam isdirected at the deformable mirror in step 1048 which in turn directs itat a desired aimpoint on the target in step 1050. At this point theprocess can repeat, or, optionally the hitspot of the second projectedbeam can be imaged onto the same FPA with the purpose of directing thehitspot to coincide with the desired aimpoint. The optional processbegins with receiving the target return from the second projected beam(e.g., HEL) in step 1072. Simultaneously an HEL LO illumination derivedfrom the same master oscillator (MO) as the laser source of the secondprojected beam is Doppler shifted and directed at the FPA in step 1070.The Doppler shifted HEL LO and the target return from the second beam(e.g., HEL return) interfere in step 1074. The Doppler shifted HEL LOillumination and the flood illuminating laser LO illumination arespatially, angularly, and spectrally offset, and therefore theprocessing of both images may be carried out simultaneously, with theresultant image composed of the HEL hitspot image overlaid with thetarget image. In step 1076, the offset between the hitspot and thedesired aimpoint is calculated by processing the hitspot overlaid targetimage. The offset is used to change the overall tilt of the deformablemirror or the setting of one or more fast steering mirrors (FSMs) to“walk” the hitspot on the desired aimpoint in step 1078.

Modifications, additions, or omissions may be made to the systems,apparatuses, and methods described herein without departing from thescope of the disclosure. For example, the components of the systems andapparatuses may be integrated or separated. Moreover, the operations ofthe systems and apparatuses disclosed herein may be performed by more,fewer, or other components and the methods described may include more,fewer, or other steps. Additionally, steps may be performed in anysuitable order. As used in this document, “each” refers to each memberof a set or each member of a subset of a set.

The description in the present application should not be read asimplying that any particular element, step, or function is an essentialor critical element which must be included in the claim scope: the scopeof patented subject matter is defined only by the allowed claims.Moreover, none of these claims are intended to invoke 35 USC § 112(f)with respect to any of the appended claims or claim elements unless theexact words “means for” or “step for” are explicitly used in theparticular claim, followed by a participle phrase identifying afunction. Use of terms such as (but not limited to) “mechanism,”“module,” “device,” “unit,” “component,” “element,” “member,”“apparatus,” “machine,” “system,” “processor,” or “controller” within aclaim is understood and intended to refer to structures known to thoseskilled in the relevant art, as further modified or enhanced by thefeatures of the claims themselves, and is not intended to invoke 35U.S.C. § 112(f).

What is claimed is:
 1. A laser beam projection system, comprising: aflood illumination source configured to produce coherent floodillumination that is directed toward a remote object, the coherent floodillumination derived from an output of a master oscillator (MO); a localoscillator (LO) illumination source configured to produce LOillumination derived from an output of an LO, the LO output derived fromthe MO output; a Doppler sensor configured to receive the LOillumination and a first portion of return illumination that comprisesthe coherent flood illumination reflected off the remote object; atleast one processor configured to generate, based on an output of theDoppler sensor, Doppler shift data for a Doppler shift corresponding toa longitudinal velocity of the remote object relative to the laser beamprojection system; a Doppler-shifted LO illumination source configuredto produce Doppler-shifted LO illumination derived from the LO outputand the Doppler shift data; a high energy laser (HEL) source configuredto produce an HEL beam derived from an output of an HEL MO; a deformablemirror configured to direct the HEL beam from the HEL source toward theremote object; and a focal plane array configured to receive a secondportion of the return illumination and the Doppler-shifted LOillumination, wherein the at least one processor is further configuredto: receive light intensity data from the focal plane array, generate,based on the light intensity data, an image of the remote object,determine a wavefront phase profile of the return illumination based onthe image of the remote object, calculate a wavefront error based on acomparison between the determined wavefront phase profile and a desiredwavefront phase profile of the HEL beam on the remote object, andcontrol the deformable mirror to at least partially compensate the HELbeam for the calculated wavefront error.
 2. The laser beam projectionsystem according to claim 1, wherein the at least one processor isconfigured to control the deformable mirror to adjust a high intensityhitspot formed by the HEL beam on the remote object.
 3. The laser beamprojection system according to claim 1, further comprising: an HEL LOillumination source configured to produce HEL LO illumination derivedfrom the output of the HEL MO or from an output of an HEL LO that isderived from the HEL MO output, and a Doppler-shifted HEL LOillumination source configured to produce Doppler-shifted HEL LOillumination derived from the HEL LO output and the Doppler shift data,wherein the focal plane array is configured to receive theDoppler-shifted HEL LO illumination and at least a portion of HEL returnillumination that comprises the HEL beam reflected off the remoteobject, and wherein the light intensity data for at least some pixels ofthe focal plane array corresponds to interference of the Doppler-shiftedHEL LO illumination with the HEL return illumination.
 4. The laser beamprojection system according to claim 3, wherein the at least oneprocessor is configured to control the deformable mirror to alter alocation of the HEL beam on the remote object based upon locations ofthe pixels where the light intensity data corresponds to theinterference of the Doppler-shifted HEL LO illumination with the HELreturn illumination.
 5. The laser beam projection system according toclaim 3, further comprising one or more fast steering mirrors configuredto direct the HEL beam toward the remote object; wherein the at leastone processor is further configured to control the one or more faststeering mirrors to alter a location of the HEL beam on the remoteobject based upon locations of the pixels where the light intensity datacorresponds to the interference of the Doppler-shifted HEL LOillumination with the HEL return illumination.
 6. The laser beamprojection system according to claim 1, wherein the at least oneprocessor is configured to control the deformable mirror to alter anintensity profile or a location of a high intensity hitspot formed bythe HEL beam at an aim point on the remote object.
 7. The laser beamprojection system according to claim 1, wherein the at least oneprocessor is configured to apply a sharpness algorithm to the image ofthe remote object to determine the wavefront phase profile of the returnillumination.
 8. The laser beam projection system according to claim 1,further comprising: one or more fast steering mirrors configured todirect the HEL beam toward the remote object; and a focus mechanismconfigured to focus the HEL beam onto the remote object.
 9. The laserbeam projection system according to claim 8, wherein the at least oneprocessor is configured to control a tilt of the one or more faststeering mirrors and to control a focus setting of the focus mechanismto partially compensate the HEL beam for the calculated wavefront error.10. The laser beam projection system according to claim 8, wherein theat least one processor is configured to decompose the wavefront errorinto separate tilt, focus and higher order components.
 11. The laserbeam projection system according to claim 10, wherein the at least oneprocessor is configured to control the one or more fast steering mirrorsaccording to the tilt component of the wavefront error, to control thefocus mechanism according to the focus component of the wavefront error,and to control the deformable mirror according to the higher ordercomponents of the wavefront error.
 12. The laser beam projection systemaccording to claim 10, wherein the at least one processor is configuredto control the deformable mirror according to the tilt, focus, andhigher order components of the wavefront error.
 13. A laser beamprojection method, comprising: using a flood illumination source,producing coherent flood illumination that is directed toward a remoteobject, the coherent flood illumination derived from an output of amaster oscillator (MO); using a local oscillator (LO) illuminationsource, producing LO illumination derived from an output of an LO, theLO output derived from the MO output; receiving, at a Doppler sensor,the LO illumination and a first portion of return illumination thatcomprises the coherent flood illumination reflected off the remoteobject; generating, based on an output of the Doppler sensor, Dopplershift data for a Doppler shift corresponding to a longitudinal velocityof the remote object relative to a coherent imaging system; using aDoppler-shifted LO illumination source, producing Doppler-shifted LOillumination derived from the LO output and the Doppler shift data;using a high energy laser (HEL) source, producing an HEL beam derivedfrom an output of an HEL MO; using a deformable mirror to direct the HELbeam from the HEL source toward the remote object; receiving, at a focalplane array, a second portion of the return illumination and theDoppler-shifted LO illumination; and using at least one processor:receiving light intensity data from the focal plane array, generating,based on the light intensity data, an image of the remote object,determining a wavefront phase profile of the return illumination basedon the image of the remote object, calculating a wavefront error basedon a comparison between the determined wavefront phase profile and adesired wavefront phase profile of the HEL beam on the remote object;and controlling the deformable mirror to at least partially compensatethe HEL beam for the calculated wavefront error.
 14. The laser beamprojection method according to claim 13, wherein controlling thedeformable mirror adjusts a high intensity hit spot formed by the HELbeam on the remote object.
 15. The laser beam projection methodaccording to claim 13, further comprising: using an HEL LO illuminationsource, producing HEL LO illumination derived from the output of the HELMO or from an output of an HEL LO that is derived from the HEL MOoutput; using a Doppler-shifted HEL LO illumination source, producingDoppler-shifted HEL LO illumination derived from the HEL LO output andthe Doppler shift data; and receiving, at the focal plane array, theDoppler-shifted HEL LO illumination and at least a portion of HEL returnillumination that comprises the HEL beam reflected off the remoteobject, wherein the light intensity data for at least some pixels of thefocal plane array corresponds to interference of the Doppler-shifted HELLO illumination with the HEL return illumination.
 16. The laser beamprojection method according to claim 15, further comprising: calculatingan offset between the pixels of the focal plane array corresponding tothe interference of the Doppler-shifted HEL LO illumination with the HELreturn illumination and the pixels corresponding to a location of adesired aim point on the remote object, and controlling the deformablemirror to minimize the calculated offset.
 17. The laser beam projectionmethod according to claim 13, wherein controlling the deformable mirroralters an intensity profile or a location of a high intensity hitspotformed by the HEL beam at an aim point on the remote object.
 18. Thelaser beam projection method according to claim 13, wherein a sharpnessalgorithm is applied to the image of the remote object to determine thewavefront phase profile of the return illumination.
 19. The laser beamprojection method according to claim 13, further comprising: using oneor more fast steering mirrors to direct the HEL beam toward the remoteobject; and using a focus mechanism to focus the HEL beam onto theremote object.
 20. The laser beam projection method according to claim19, further comprising: using the at least one processor to control atilt of the one or more fast steering mirrors and to control a focussetting of the focus mechanism to partially compensate the HEL beam forthe calculated wavefront error.
 21. The laser beam projection methodaccording to claim 19, further comprising: using the at least oneprocessor to decompose the wavefront error into separate tilt, focus andhigher order components.
 22. The laser beam projection method accordingto claim 21, further comprising: using the at least one processor tocontrol the one or more fast steering mirrors according to the tiltcomponent of the wavefront error, to control the focus mechanismaccording to the focus component of the wavefront error, and to controlthe deformable mirror according to the higher order components of thewavefront error.
 23. The laser beam projection method according to claim21, further comprising: using the at least one processor to control thedeformable mirror according to the tilt, focus, and higher ordercomponents of the wavefront error.
 24. The laser beam projection methodaccording to claim 15, further comprising: calculating an offset betweenthe pixels of the focal plane array corresponding to the interference ofthe Doppler-shifted HEL LO illumination with the HEL return illuminationand the pixels corresponding to a location of a desired aim point on theremote object, and controlling one or more fast steering mirrorsconfigured to direct the HEL beam toward the remote object to minimizethe calculated offset.
 25. A laser beam projection system, comprising: aflood illumination source configured to produce coherent floodillumination; a local oscillator (LO) illumination source configured toproduce LO illumination; a Doppler sensor configured to receive the LOillumination and a first portion of return illumination that comprisesthe coherent flood illumination reflected off a remote object; aDoppler-shifted LO illumination source configured to produceDoppler-shifted LO illumination based on Doppler shift data, the Dopplershift data based on a longitudinal velocity of the remote objectrelative to the laser beam projection system; a high energy laser (HEL)source configured to produce an HEL beam; a deformable mirror configuredto direct the HEL beam toward the remote object; a focal plane arrayconfigured to receive a second portion of the return illumination andthe Doppler-shifted LO illumination; and at least one processorconfigured to: generate, based on an output of the focal plane array, animage of the remote object; determine a wavefront phase profile of thereturn illumination based on the image; calculate a wavefront errorbased on a comparison between the determined wavefront phase profile anda desired wavefront phase profile; and control the deformable mirror toat least partially compensate the HEL beam for the calculated wavefronterror.